#include <tvm/task_dynamics/Proportional.h>

Inheritance diagram for tvm::task_dynamics::Proportional:

Collaboration diagram for tvm::task_dynamics::Proportional:

Classes
class	Impl

Public Types
using	Gain = mpark::variant< double, Eigen::VectorXd, Eigen::MatrixXd >

Public Member Functions
	Proportional (double kp)

	Proportional (const Eigen::VectorXd &kp)

	Proportional (const Eigen::MatrixXd &kp)

	~Proportional () override=default

Public Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamics
virtual	~TaskDynamics ()=default

std::unique_ptr< TaskDynamicsImpl >	impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const

Order	order () const

Protected Member Functions
std::unique_ptr< abstract::TaskDynamicsImpl >	impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override

Order	order_ () const override

Detailed Description

Compute \( \dot{e}^* = -k_p e \) (Kinematic order) with \( k_p \) a scalar, a diagonal matrix (given as a vector) or a matrix.

Member Typedef Documentation

◆ Gain

using tvm::task_dynamics::Proportional::Gain = mpark::variant<double, Eigen::VectorXd, Eigen::MatrixXd>

Constructor & Destructor Documentation

◆ Proportional() [1/3]

tvm::task_dynamics::Proportional::Proportional ( double kp )

Proportional dynamics with scalar gain.

◆ Proportional() [2/3]

tvm::task_dynamics::Proportional::Proportional ( const Eigen::VectorXd & kp )

Proportional dynamics with diagonal matrix gain.

◆ Proportional() [3/3]

tvm::task_dynamics::Proportional::Proportional ( const Eigen::MatrixXd & kp )

Proportional dynamics with matrix gain.

◆ ~Proportional()

tvm::task_dynamics::Proportional::~Proportional ( )

overridedefault

Member Function Documentation

◆ impl_()

std::unique_ptr<abstract::TaskDynamicsImpl> tvm::task_dynamics::Proportional::impl_	(	FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs
	)		const

overrideprotectedvirtual

Implements tvm::task_dynamics::abstract::TaskDynamics.

◆ order_()

Order tvm::task_dynamics::Proportional::order_ ( ) const